CN107671849A - A kind of multi-angle spinning mechanical arm - Google Patents
A kind of multi-angle spinning mechanical arm Download PDFInfo
- Publication number
- CN107671849A CN107671849A CN201711018167.0A CN201711018167A CN107671849A CN 107671849 A CN107671849 A CN 107671849A CN 201711018167 A CN201711018167 A CN 201711018167A CN 107671849 A CN107671849 A CN 107671849A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- angle spinning
- connecting plate
- rotating ball
- rotary shafts
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
The present invention relates to machinery equipment field, in particular a kind of multi-angle spinning mechanical arm, including base, equipment body, rotating ball and electromagnetism connecting plate, the base is located at the bottom outer surface of equipment body, and the upper end outer surface of base is movably installed with No.1 rotary shaft, No. two rotary shafts are provided with above the No.1 rotary shaft, and the inside of No. two rotary shafts is through being connected with auxiliary dynamic support, No. three rotary shafts are provided with above No. two rotary shafts, a side external surface of the rotating ball is installed with rotating shaft.A kind of multi-angle spinning mechanical arm of the present invention, provided with rotating ball, electromagnetism connecting plate and elasticated net web, it can realize and rotating operation is carried out to each orientation of equipment, easier operating side can also be changed, more articles can be finally captured while flexible operating, different operating situation is applicable, brings more preferable prospect of the application.
Description
Technical field
The present invention relates to machinery equipment field, specially a kind of multi-angle spinning mechanical arm.
Background technology
Industry mechanical arm is an important branch of robot, in life now, in the progress of Science and Technology Day crescent benefit
Under, robot and the maximum difference of arm for having the mankind are that flexibility ratio and resistance to dynamics.The namely maximum of manipulator
Advantage is recursive to do same action will not always feel tired under normal circumstances in machinery, therefore the application of mechanical arm
Will be more and more extensive.
There is the drawbacks of certain in existing mechanical arm, first, in operation, due to its work angle when in use
Problem and cause operating process more complicated, it is and more complicated when being changed to operating side, and some mechanical arms are only
Single operating process can be realized, it is difficult to a tractor serves several purposes is realized, more articles can not be finally captured while flexible operating,
Therefore, a kind of multi-angle spinning mechanical arm is proposed regarding to the issue above.
The content of the invention
It is an object of the invention to provide a kind of multi-angle spinning mechanical arm, to solve what is proposed in above-mentioned background technology
Problem.
To achieve the above object, the present invention provides following technical scheme：
A kind of multi-angle spinning mechanical arm, including base, equipment body, rotating ball and electromagnetism connecting plate, the base
No.1 rotary shaft is movably installed with positioned at the upper end outer surface of the bottom outer surface of equipment body, and base, the No.1 rotates
It is provided with No. two rotary shafts above axle, and the inside of No. two rotary shafts is through being connected with auxiliary dynamic support, No. two rotary shafts
Top be provided with No. three rotary shafts, a side external surface of the rotating ball is installed with rotating shaft, the electromagnetism connecting plate position
In another side external surface of rotating ball, a side external surface of the rotating shaft is movably installed with mechanical arm, and outside one end of mechanical arm
Surface is installed with expansion link, and one end of the expansion link is installed with pulsometer, a side external surface of the connecting seat
Gripper is installed with, and one end of gripper is movably installed with mechanical finger, the side of the mechanical finger is provided with elasticated net
Web, the upper end both sides of the auxiliary dynamic support are provided with control handle, and rotating ball side bottom is fixedly connected with control rocking bar,
And control rocking bar is flexibly connected with fixed horizontal rotating shaft.
Preferably, the outer surface of the equipment body is provided with anticorrosive coat, and equipment body is fixed by base and ground and connected
Connect.
Preferably, the rotating ball is magnetic spheres, and electromagnetism connecting plate is an electromagnet, is shaped as rectangle, the rotation
Ball is connected with electromagnetism connecting plate by electromagnetism.
Preferably, the inside of the equipment body is provided with motor, No.1 rotary shaft, No. two rotary shafts, No. three rotary shafts, electricity
Magnetic connects plate, mechanical finger are with controlling output end of the input of rocking bar with motor to be electrically connected with.
Preferably, the profile of the gripper is similar to die Schwimmhaut, and elasticated net web is the elasticated net that stretch cord braiding forms.
Preferably, connecting seat is provided between gripper and the electromagnetism connecting plate, fastening bolt is provided with inside connecting seat.
Compared with prior art, the beneficial effects of the invention are as follows：
1st, in the present invention, by setting rotating ball, spherical setting so that it is more flexible in the change of travel direction
Simplicity, comprehensive it can adjust, while in operation by being used in combination with control rocking bar, can be according to operator
Manipulation travel direction transformation.
2nd, in the present invention, by setting electromagnetism connecting plate, during energization, can attended operation end carry out normal operating, when disconnected
During switch power supply, electromagnetism connecting plate drops, and the convenient replacing to operating side, really realizes a tractor serves several purposes, more convenient.
3rd, in the present invention, by setting elasticated net web, the bionic design of die Schwimmhaut is utilized, on the one hand, expand crawl scope,
On the other hand, the friction of stretch cord increase contact surface, makes its crawl process more firm.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of multi-angle spinning mechanical arm of the present invention；
Fig. 2 is a kind of partial view of multi-angle spinning mechanical arm of the present invention；
Fig. 3 is the enlarged drawing of A in a kind of multi-angle spinning mechanical arm Fig. 2 of the present invention；
Fig. 4 is a kind of gripper structure chart of multi-angle spinning mechanical arm of the present invention.
In figure：1st, base；2nd, No.1 rotary shaft；3rd, No. two rotary shafts；4th, auxiliary dynamic support；5th, No. three rotary shafts；6th, equipment
Main body；7th, pulsometer；8th, expansion link；9th, rotating ball；10th, rotating shaft；11st, electromagnetism connecting plate；12nd, gripper；13rd, mechanical finger；14、
Elasticated net web；15th, mechanical arm；16th, control handle；17th, rocking bar is controlled.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1-4 are referred to, the present invention provides a kind of technical scheme：
A kind of multi-angle spinning mechanical arm, including base 1, equipment body 6, rotating ball 9 and electromagnetism connecting plate 11, base
1 is located at the bottom outer surface of equipment body 6, and the upper end outer surface of base 1 is movably installed with No.1 rotary shaft 2, and No.1 rotates
The top of axle 2 is provided with No. two rotary shafts 3, and the inside of No. two rotary shafts 3 is through being connected with auxiliary dynamic support 4, No. two rotary shafts 3
Top be provided with No. three rotary shafts 5, a side external surface of rotating ball 9 is installed with rotating shaft 10, and rotating ball 9 is spherical to be set
Put so that its more flexible and convenient in the change of travel direction, comprehensive can adjust, while in operation by with
Control rocking bar 17 is used in combination, can be according to the transformation of the manipulation travel direction of operator, and electromagnetism connecting plate 11, which is located at, to be turned
Another side external surface of dynamic ball 9, electromagnetism connecting plate 11 when being powered, can attended operation end carry out normal operating, when disconnecting electricity
During source, electromagnetism connecting plate 11 drops, and the convenient replacing to operating side, really realizes a tractor serves several purposes, a side external surface of rotating shaft 10
Mechanical arm 15 is movably installed with, and one end outer surface of mechanical arm 15 is installed with expansion link 8, one end of expansion link 8 is fixed
Pulsometer 7 is installed, a side external surface of connecting seat 11 is installed with gripper 12, and one end activity installation of gripper 12
There is mechanical finger 13, the side of mechanical finger 13 is provided with elasticated net web 14, utilizes the bionic design of die Schwimmhaut, on the one hand, expansion is grabbed
Scope is taken, on the other hand, stretch cord increases the friction of contact surface, makes its crawl process more firm, the upper end two of auxiliary dynamic support 4
Side is provided with control handle 16, and the side bottom of rotating ball 9 is fixedly connected with control rocking bar 17, and controls rocking bar 17 and fixed level
Rotating shaft 10 is flexibly connected.
The outer surface of equipment body 6 is provided with anticorrosive coat, and equipment body 6 is fixedly connected with the ground by base 1；Rotating ball
9 be magnetic spheres, and electromagnetism connecting plate 11 is an electromagnet, is shaped as rectangle, rotating ball 9 is connected with electromagnetism connecting plate 11 by electromagnetism
Connect；The inside of equipment body 6 is provided with motor, the rotary shaft 3, three of No.1 rotary shaft 2, two rotary shaft 5, electromagnetism connecting plate 11,
Mechanical finger 13 is with controlling output end of the input of rocking bar 17 with motor to be electrically connected with；The profile of gripper 12 and die Schwimmhaut phase
Seemingly, elasticated net web 14 is the elasticated net that stretch cord braiding forms；Connecting seat is provided between gripper 12 and electromagnetism connecting plate 11,
Fastening bolt is provided with inside connecting seat.
It should be noted that the present invention is a kind of multi-angle spinning mechanical arm, when in use, first, will by base 1
Equipment body 6 is fixed with ground, then, selects suitable operating side to be fixed by bolt and electromagnetism connecting plate 11,
Electromagnetism connecting plate 11 is powered and is connected with rotating ball 9, in the later stage, equipment body 6 is powered, by controller to equipment body
6 program is set, and end-use device main body 6 carries out track motion and a series of operation by program set in advance,
In operation, equipment body 6 can carry out spin motion, at the same time, No. two rotary shafts 3, three by No.1 rotary shaft 2
Number cooperated between rotary shaft 5, rotating ball 9 and rotating shaft 10 so that equipment body 6 can omnibearing movable, meanwhile, pulsometer
7 can promote expansion link 8 to control its length by gas pressure, and the operating process of the equipment body 6 made is more convenient, more in fact
With.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of multi-angle spinning mechanical arm, including base (1), equipment body (6), rotating ball (9) and electromagnetism connecting plate
(11), it is characterised in that：The base (1) is located at the bottom outer surface of equipment body (6), and the upper end outer surface of base (1)
No.1 rotary shaft (2) is movably installed with, No. two rotary shafts (3), and No. two rotations are provided with above the No.1 rotary shaft (2)
The inside of axle (3) is provided with No. three rotary shafts (5) through auxiliary dynamic support (4) is connected with above No. two rotary shafts (3),
One side external surface of the rotating ball (9) is installed with rotating shaft (10), and the electromagnetism connecting plate (11) is located at rotating ball (9)
Another side external surface, a side external surface of the rotating shaft (10) are movably installed with mechanical arm (15), and one end of mechanical arm (15)
Outer surface is installed with expansion link (8), and one end of the expansion link (8) is installed with pulsometer (7), the connecting seat
(11) a side external surface is installed with gripper (12), and one end of gripper (12) is movably installed with mechanical finger (13),
The side of the mechanical finger (13) is provided with elasticated net web (14), and the upper end both sides of the auxiliary dynamic support (4) are provided with control handle
Hand (16), rotating ball (9) the side bottom are fixedly connected with control rocking bar (17), and control rocking bar (17) to turn with fixed level
Axle (10) is flexibly connected.
A kind of 2. multi-angle spinning mechanical arm according to claim 1, it is characterised in that：The equipment body (6)
Outer surface is provided with anticorrosive coat, and equipment body (6) is fixedly connected with the ground by base (1).
A kind of 3. multi-angle spinning mechanical arm according to claim 1, it is characterised in that：The rotating ball (9) is magnetic
Property spheroid, electromagnetism connecting plate (11) is an electromagnet, is shaped as rectangle, and the rotating ball (9) passes through with electromagnetism connecting plate (11)
Electromagnetism connects.
A kind of 4. multi-angle spinning mechanical arm according to claim 1, it is characterised in that：The equipment body (6)
Inside is provided with motor, No.1 rotary shaft (2), No. two rotary shafts (3), No. three rotary shafts (5), electromagnetism connecting plate (11), mechanical finger
(13) with controlling output end of the input of rocking bar (17) with motor to be electrically connected with.
A kind of 5. multi-angle spinning mechanical arm according to claim 1, it is characterised in that：Outside the gripper (12)
Shape is similar to die Schwimmhaut, and elasticated net web (14) is the elasticated net that stretch cord braiding forms.
A kind of 6. multi-angle spinning mechanical arm according to claim 1, it is characterised in that：The gripper (12) and electricity
Connecting seat is provided between magnetic connects plate (11), fastening bolt is provided with inside connecting seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711018167.0A CN107671849A (en) | 2017-10-27 | 2017-10-27 | A kind of multi-angle spinning mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711018167.0A CN107671849A (en) | 2017-10-27 | 2017-10-27 | A kind of multi-angle spinning mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107671849A true CN107671849A (en) | 2018-02-09 |
Family
ID=61142899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711018167.0A Withdrawn CN107671849A (en) | 2017-10-27 | 2017-10-27 | A kind of multi-angle spinning mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107671849A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108755414A (en) * | 2018-04-23 | 2018-11-06 | 蔡锦文 | A kind of efficient equipment for bridge construction |
| CN111186610A (en) * | 2019-12-27 | 2020-05-22 | 浙江瑞涛包装制品有限公司 | Multifunctional packaging mechanical arm |
-
2017
- 2017-10-27 CN CN201711018167.0A patent/CN107671849A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108755414A (en) * | 2018-04-23 | 2018-11-06 | 蔡锦文 | A kind of efficient equipment for bridge construction |
| CN111186610A (en) * | 2019-12-27 | 2020-05-22 | 浙江瑞涛包装制品有限公司 | Multifunctional packaging mechanical arm |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180209 |
|
| WW01 | Invention patent application withdrawn after publication |